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I think it depends on terrain and the particular vehicle.
With my ranger, I usually go 1,2,3,5. Short shifting, moderate throttle. Up hills, I won't skip gears.
In my daughters saturn wagon, I find that 1,3,5 is easier and smoother. I find with that vehicle, the 1,2 shift is kind of jerky. I think this is because the gears are very close, so it's almost like going from 1 to 1 again.
So, what it comes down to is experiment a little. Listen to you engine. To me, my ear tells me more than the tach does. If you are lugging, you will know.
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